Guided by empirical experimentation, analytical analysis, and commercial product investigation (e.g., factory ACC vehicles and current self-driving technologies), the literature has recently given specific interest to how vehicular dynamics impact the performance of the vehicle. A typical CF controller consists of an upper-level and lower-level control. The upper-level functions as a planner that receives sensor data (on distance, velocity, acceleration) and sends commands to the lower-level to execute (i.e., braking, accelerating, etc.). Notably, there could be a discrepancy between the commanded action (upper-level) and the executed action (lower-level). This has been shown to be the reality in real-life driving conditions. The assumption of perfect execution of commands by low-level controllers has been shown to be unrealistic, with significant implications on local/string stability and overall performance [1]}, [2]}, [3]}, [4]}, [5]}, [6]}, [7]}, [1]}, [9]}, [7]}, [11]}. A recent paper by [11]} investigates the significance of low-level control for ACC vehicles on string stability. Their theoretical and empirical investigations connect disturbances' frequency and amplifications to low-level control functions.
